메뉴 건너뛰기




Volumn 21, Issue 3, 2006, Pages 184-195

Randomized motion planning: A tutorial

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTATIONAL COMPLEXITY; DATA STRUCTURES; PROBLEM SOLVING; STANDARDS;

EID: 33750509390     PISSN: 08268185     EISSN: None     Source Type: Journal    
DOI: 10.2316/journal.206.2006.3.206-2804     Document Type: Article
Times cited : (24)

References (67)
  • 2
    • 84888229792 scopus 로고
    • Some algebraic and geometric computations in space
    • J. Canny, Some algebraic and geometric computations in space, Proc. of FOCS, 1988, 460-467.
    • (1988) Proc. of FOCS , pp. 460-467
    • Canny, J.1
  • 3
    • 0018730847 scopus 로고
    • Complexity of the mover's problem and generalization
    • J.H. Reif, Complexity of the mover's problem and generalization, Proc. of FOCS, 1979, 421-427.
    • (1979) Proc. of FOCS , pp. 421-427
    • Reif, J.H.1
  • 5
    • 33750521307 scopus 로고    scopus 로고
    • On the relationship between classical grid search and probabilistic roadmaps
    • J.-D. Boissonat et al. (Eds.) (Berlin: Springer-Verlag)
    • S.M. LaValle & M.S. Branicky, On the relationship between classical grid search and probabilistic roadmaps, in J.-D. Boissonat et al. (Eds.), Algorithmic foundations of robotics (Berlin: Springer-Verlag, 2003).
    • (2003) Algorithmic Foundations of Robotics
    • LaValle, S.M.1    Branicky, M.S.2
  • 7
    • 0345276887 scopus 로고    scopus 로고
    • Exploiting multi-robot geometry for efficient randomized motion planning
    • Maria Gini et al. (Eds.) (IOS Press)
    • S. Carpin & E. Pagello, Exploiting multi-robot geometry for efficient randomized motion planning, Maria Gini et al. (Eds.), Intelligent autonomous systems 7 (IOS Press, 2002).
    • (2002) Intelligent Autonomous Systems , vol.7
    • Carpin, S.1    Pagello, E.2
  • 9
    • 0036056235 scopus 로고    scopus 로고
    • Using a prm planner to compare centralized and decoupled planning for multi-robot systems
    • G. Sanchez & J.C Latombe, Using a prm planner to compare centralized and decoupled planning for multi-robot systems, ICRA, 2002, 2112-2119.
    • (2002) ICRA , pp. 2112-2119
    • Sanchez, G.1    Latombe, J.C.2
  • 10
    • 0036058306 scopus 로고    scopus 로고
    • A random loop generator for planning the motions of closed kinematics chains using prm methods
    • J. Cortes, T. Simeon, & J.P. Laumond, A random loop generator for planning the motions of closed kinematics chains using prm methods, ICRA, 2002, 2141-2146.
    • (2002) ICRA , pp. 2141-2146
    • Cortes, J.1    Simeon, T.2    Laumond, J.P.3
  • 11
    • 0001967401 scopus 로고    scopus 로고
    • A kinematics-based probabilistic roadmap method for closed chain systems
    • B. Donald et. al. (Eds.) (A.K. Peters)
    • L. Han & N. Amato, A kinematics-based probabilistic roadmap method for closed chain systems, in B. Donald et. al. (Eds.), Algorithmic and computational robotics: New directions (A.K. Peters, 2000).
    • (2000) Algorithmic and Computational Robotics: New Directions
    • Han, L.1    Amato, N.2
  • 13
    • 0036056251 scopus 로고    scopus 로고
    • Probabilistic roadmap motion planning for deformable objects
    • O. Burchan Bayazit, J-.M. Lien, & N.M. Amato, Probabilistic roadmap motion planning for deformable objects, ICRA, 2002, 2126-2133.
    • (2002) ICRA , pp. 2126-2133
    • Bayazit, O.B.1    Lien, J.-M.2    Amato, N.M.3
  • 14
    • 0035269602 scopus 로고    scopus 로고
    • Planning paths for elastic objects under manipulation constraints
    • F. Lamiraux & L.E. Kavraki, Planning paths for elastic objects under manipulation constraints, International Journal of Robotics Research, 20(3), 2001, 188-208.
    • (2001) International Journal of Robotics Research , vol.20 , Issue.3 , pp. 188-208
    • Lamiraux, F.1    Kavraki, L.E.2
  • 16
    • 0003275306 scopus 로고    scopus 로고
    • Parallel search algorithms for robot motion planning
    • K. Gupta & A.P. del Pobil (Eds.) (John Wiley & Sons)
    • D. Challou, D. Boley, M. Gini, V. Kumar, & C. Olson, Parallel search algorithms for robot motion planning, in K. Gupta & A.P. del Pobil (Eds.), Practical motion planning (John Wiley & Sons, 1998).
    • (1998) Practical Motion Planning
    • Challou, D.1    Boley, D.2    Gini, M.3    Kumar, V.4    Olson, C.5
  • 17
    • 0001356736 scopus 로고    scopus 로고
    • Capturing the Connectivity of high-dimensional geometric spaces by parallelizable random sampling techniques
    • P.M. Pardalos & S. Rajasekaran (Eds.) (Boston: Kluwer)
    • D. Hsu, L.E. Kavraki, J-C. Latombe, & R. Motwani, Capturing the Connectivity of high-dimensional geometric spaces by parallelizable random sampling techniques, in P.M. Pardalos & S. Rajasekaran (Eds.), Advances in randomized parallel computing (Boston: Kluwer 1999).
    • (1999) Advances in Randomized Parallel Computing
    • Hsu, D.1    Kavraki, L.E.2    Latombe, J.-C.3    Motwani, R.4
  • 18
    • 0034877220 scopus 로고    scopus 로고
    • Disconnection proofs for motion planning
    • J. Basch, L.J. Guibas, D. Hsu, & A.T. Nguyen, Disconnection proofs for motion planning, ICRA, 2001, 1765-1772.
    • (2001) ICRA , pp. 1765-1772
    • Basch, J.1    Guibas, L.J.2    Hsu, D.3    Nguyen, A.T.4
  • 19
    • 0036058307 scopus 로고    scopus 로고
    • Resolution complete rapidly-exploring random trees
    • P. Cheng & S.M. LaValle, Resolution complete rapidly-exploring random trees, ICRA, 2002, 267-272.
    • (2002) ICRA , pp. 267-272
    • Cheng, P.1    LaValle, S.M.2
  • 21
    • 0026913154 scopus 로고
    • Gross motion planning: A survey
    • Y.K. Hwang & N. Ahuja, Gross motion planning: A survey, ACM Computational Surveys, 24(3), 1992, 219-290.
    • (1992) ACM Computational Surveys , vol.24 , Issue.3 , pp. 219-290
    • Hwang, Y.K.1    Ahuja, N.2
  • 25
    • 0020706698 scopus 로고
    • Spatial planning: A configuration space approach
    • T. Lozano-Pérez, Spatial planning: A configuration space approach, IEEE Trans. on Computers, C-32(2), 1983, 108-120.
    • (1983) IEEE Trans. on Computers , vol.C-32 , Issue.2 , pp. 108-120
    • Lozano-Pérez, T.1
  • 27
    • 34249754428 scopus 로고
    • Provably good approximation algorithms for optimal kinodynamic planning for cartesian robots and open chain manipulators
    • B. Donald & P. Xavier, Provably good approximation algorithms for optimal kinodynamic planning for cartesian robots and open chain manipulators, Algorithmica, 14(6), 1995, 480-530.
    • (1995) Algorithmica , vol.14 , Issue.6 , pp. 480-530
    • Donald, B.1    Xavier, P.2
  • 28
    • 0001244154 scopus 로고
    • Provably good approximation algorithms for optimal kinodynamic planning: Robots with decoupled dynamic bounds
    • B. Donald & P. Xavier, Provably good approximation algorithms for optimal kinodynamic planning: Robots with decoupled dynamic bounds, Algorithmica, 14(6), 1995, 443-479.
    • (1995) Algorithmica , vol.14 , Issue.6 , pp. 443-479
    • Donald, B.1    Xavier, P.2
  • 30
    • 0028599944 scopus 로고
    • Randomized preprocessing of configuration space for fast path planning
    • L. Kavraki & J.-C. Latombe, Randomized preprocessing of configuration space for fast path planning, ICRA, 1994, 2138-2145.
    • (1994) ICRA , pp. 2138-2145
    • Kavraki, L.1    Latombe, J.-C.2
  • 31
    • 0003028359 scopus 로고
    • A probabilistic learning approach to motion planning
    • K. Goldberg et al. (Eds.) (A.K. Peters)
    • M. Overmars & P. Švestka, A probabilistic learning approach to motion planning, in K. Goldberg et al. (Eds.), Algorithmic foundations of robotics (A.K. Peters, 1995).
    • (1995) Algorithmic Foundations of Robotics
    • Overmars, M.1    Švestka, P.2
  • 32
    • 0025693334 scopus 로고
    • Solving findpath by combination of goal-girected and randomized search
    • B. Glavina, Solving findpath by combination of goal-girected and randomized search, ICRA, 1990, 1718-1723.
    • (1990) ICRA , pp. 1718-1723
    • Glavina, B.1
  • 34
    • 0034251519 scopus 로고    scopus 로고
    • Choosing good distances metrics and local planners for probabilistic roadmap methods
    • N.M. Amato, O.B. Bayazit, L.K. Dale, & C. Jone, Choosing good distances metrics and local planners for probabilistic roadmap methods, IEEE Trans. on Robotics and Automation, 16(4), 2000, 442-447.
    • (2000) IEEE Trans. on Robotics and Automation , vol.16 , Issue.4 , pp. 442-447
    • Amato, N.M.1    Bayazit, O.B.2    Dale, L.K.3    Jone, C.4
  • 37
    • 0032651794 scopus 로고    scopus 로고
    • Probabilistic roadmaps are embarrassingly parallel
    • N.M. Amato & L.K. Dale, Probabilistic roadmaps are embarrassingly parallel, ICRA, 1999, 688-694.
    • (1999) ICRA , pp. 688-694
    • Amato, N.M.1    Dale, L.K.2
  • 38
    • 0035559041 scopus 로고    scopus 로고
    • Path planning in practice: Lazy evaluation on a multi-resolution grid
    • R. Bohlin, Path planning in practice: Lazy evaluation on a multi-resolution grid, IROS, 2001, 49-54.
    • (2001) IROS , pp. 49-54
    • Bohlin, R.1
  • 39
    • 0033344709 scopus 로고    scopus 로고
    • Visibility based probabilistic roadmaps
    • C. Nissoux, T. Siméon, & J.P. Laumond, Visibility based probabilistic roadmaps, IROS, 1999, 1316-1321.
    • (1999) IROS , pp. 1316-1321
    • Nissoux, C.1    Siméon, T.2    Laumond, J.P.3
  • 41
    • 0029706727 scopus 로고    scopus 로고
    • A randomized roadmap method for path and manipulation planning
    • N.M. Amato& Y. Wu, A randomized roadmap method for path and manipulation planning, ICRA, 1996, 113-120.
    • (1996) ICRA , pp. 113-120
    • Amato, N.M.1    Wu, Y.2
  • 42
    • 0344445620 scopus 로고    scopus 로고
    • A general framework for sampling on the medial axis of the free space
    • J.-M. Lien, S.L. Thomas, & N.M. Amato, A general framework for sampling on the medial axis of the free space, ICRA, 2003.
    • (2003) ICRA
    • Lien, J.-M.1    Thomas, S.L.2    Amato, N.M.3
  • 44
    • 0032632832 scopus 로고    scopus 로고
    • A probabilistic roadmap planner with sampling on the medial axis of the free space
    • S.A. Wilmarth, N.M. Amato, & P.F. Stiller, A probabilistic roadmap planner with sampling on the medial axis of the free space, ICRA, 1999, 1024-1031.
    • (1999) ICRA , pp. 1024-1031
    • Wilmarth, S.A.1    Amato, N.M.2    Stiller, P.F.3
  • 49
    • 0036055516 scopus 로고    scopus 로고
    • Generalizing the analysis of prm
    • A. Ladd & L. Kavraki, Generalizing the analysis of prm, ICRA, 2002, 2120-2125.
    • (2002) ICRA , pp. 2120-2125
    • Ladd, A.1    Kavraki, L.2
  • 50
    • 0003575599 scopus 로고    scopus 로고
    • Technical Report TR 98-11, Computer Science Department, Iowa State University, October
    • S.M. LaValle, Rapidly-exploring random trees, Technical Report TR 98-11, Computer Science Department, Iowa State University, October 1998.
    • (1998) Rapidly-exploring Random Trees
    • LaValle, S.M.1
  • 51
    • 0032643392 scopus 로고    scopus 로고
    • Randomized kinodynamic planning
    • S.M. LaValle & J.J. Kuffner, Randomized kinodynamic planning, ICRA, 1999, 473-479.
    • (1999) ICRA , pp. 473-479
    • LaValle, S.M.1    Kuffner, J.J.2
  • 52
    • 23744464629 scopus 로고    scopus 로고
    • RRT-based trajectory design for autonomous automobiles and spacecraft
    • P. Cheng, Z. Shen, & S.M. LaValle, RRT-based trajectory design for autonomous automobiles and spacecraft, Archives of Control Sciences, 11 (3-4), 2001, 167-194.
    • (2001) Archives of Control Sciences , vol.11 , Issue.3-4 , pp. 167-194
    • Cheng, P.1    Shen, Z.2    LaValle, S.M.3
  • 53
    • 0033726628 scopus 로고    scopus 로고
    • Rrt-connect: An efficient approach to single-query path planning
    • San Francisco, April
    • J.J. Kufner & S.M. LaValle, Rrt-connect: An efficient approach to single-query path planning, ICRA, San Francisco, April 2001, 995-1001.
    • (2001) ICRA , pp. 995-1001
    • Kufner, J.J.1    LaValle, S.M.2
  • 56
    • 33750502578 scopus 로고    scopus 로고
    • From dynamic programming to RRTs: Algorithmic design of feasible trajectories
    • A. Bicchi et al. (Eds.) (Berlin: Springer-Verlag)
    • S. M. LaValle, From dynamic programming to RRTs: Algorithmic design of feasible trajectories, in A. Bicchi et al. (Eds.), Control problems in robotics (Berlin: Springer-Verlag, 2002).
    • (2002) Control Problems in Robotics
    • LaValle, S.M.1
  • 57
    • 0034861233 scopus 로고    scopus 로고
    • Motion planning for humanoid robots under obstacle and dynamic balance constraints
    • J. Kufner, K. Nishiwaki, S. Kagami, M. Inaba, & H. Inoue, Motion planning for humanoid robots under obstacle and dynamic balance constraints, ICRA, 2001, 692-698.
    • (2001) ICRA , pp. 692-698
    • Kufner, J.1    Nishiwaki, K.2    Kagami, S.3    Inaba, M.4    Inoue, H.5
  • 58
    • 0036451084 scopus 로고    scopus 로고
    • Real-time randomized path planning for robot navigation
    • J. Bruce & M. Veloso, Real-time randomized path planning for robot navigation, IROS, 2002, 2383-2388.
    • (2002) IROS , pp. 2383-2388
    • Bruce, J.1    Veloso, M.2
  • 59
    • 0036061404 scopus 로고    scopus 로고
    • Efficient nearest neighbor searching for motion planning
    • A. Atramentov & S.M. LaValle, Efficient nearest neighbor searching for motion planning, ICRA, 2002, 632-637.
    • (2002) ICRA , pp. 632-637
    • Atramentov, A.1    LaValle, S.M.2
  • 60
    • 0035558104 scopus 로고    scopus 로고
    • Reducing metric sensitivity in randomized trajectory design
    • P. Cheng & S.M. LaValle, Reducing metric sensitivity in randomized trajectory design, IROS, 2001.
    • (2001) IROS
    • Cheng, P.1    LaValle, S.M.2
  • 61
    • 3042599057 scopus 로고    scopus 로고
    • Augmenting RRT-planners with local trees
    • M. Strandberg, Augmenting RRT-planners with local trees, ICRA, 2004, 3258-3262.
    • (2004) ICRA , pp. 3258-3262
    • Strandberg, M.1
  • 62
    • 33750494886 scopus 로고    scopus 로고
    • Distributed sampling-based roadmap of trees for large-scale motion planning
    • E. Plaku & L.E. Kavraki, Distributed sampling-based roadmap of trees for large-scale motion planning, ICRA, 2005, 3879-3884.
    • (2005) ICRA , pp. 3879-3884
    • Plaku, E.1    Kavraki, L.E.2
  • 64
    • 0033689555 scopus 로고    scopus 로고
    • Kinodynamic motion planning amidst moving obstacles
    • R. Kindel, D. Hsu, J.C. Latombe, & S. Rock, Kinodynamic motion planning amidst moving obstacles, ICRA, 2000, 537-543.
    • (2000) ICRA , pp. 537-543
    • Kindel, R.1    Hsu, D.2    Latombe, J.C.3    Rock, S.4
  • 67
    • 0034865482 scopus 로고    scopus 로고
    • Probabilistic roadmaps: Putting it all together
    • Seoul, May
    • L.K. Dale & N.M. Amato, Probabilistic roadmaps: Putting it all together, ICRA, Seoul, May 2001, 1940-1947.
    • (2001) ICRA , pp. 1940-1947
    • Dale, L.K.1    Amato, N.M.2


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.